Lamination device

ABSTRACT

A lamination device that laminates a plurality of types of workpieces includes supply mechanisms that supply the workpiece to each of supply positions, a movement mechanism including a stator of a linear motor having a predetermined traveling track and a mover of a linear motor that is movable between a plurality of the supply positions along a traveling track, and a controller that controls at least the mover. The mover includes a holding unit that holds the workpiece supplied to the supply positions, and a lamination stage for lamination the workpiece. The controller corrects a relative position of the workpiece with respect to the lamination stage and controls the mover to laminate the workpiece whose relative position is corrected on the lamination stage while the holding unit holds the workpiece supplied to the supply positions and moves to and stops at a next one of the supply positions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims benefit of priority to International Patent Application No. PCT/JP2021/015011, filed Apr. 9, 2021, and to Japanese Patent Application No. 2020-080039, filed Apr. 30, 2020, the entire contents of each are incorporated herein by reference.

BACKGROUND Technical Field

The present disclosure relates to a lamination device that laminates a plurality of types of workpieces.

Background Art

Conventionally, a lamination device that laminates a plurality of types of workpieces in a predetermined order is known.

As one of such lamination devices, Japanese Patent Application Laid-Open No. 2019-215977 describes a lamination device that laminates sheet-shaped workpieces that are battery materials such as a positive electrode, a negative electrode, and a separator. The lamination device includes a conveyance mechanism that conveys a workpiece in a predetermined direction, a transfer mechanism that transfers a workpiece, and a lamination mechanism that laminates a workpiece, and is configured to transfer, by the transfer mechanism, a workpiece conveyed by a conveyance mechanism and laminate the workpiece by the lamination mechanism. The transfer mechanism includes a stator of a linear motor having a predetermined traveling track and movers of a plurality of linear motors provided in the stator, and the movers move to the lamination mechanism in a state of holding a workpiece by a holding member. Japanese Patent Application Laid-Open No. 2019-215977 describes that sheet-shaped workpieces can be laminated at high speed by such a configuration.

SUMMARY

However, in the lamination device described in Japanese Patent Application Laid-Open No. 2019-215977, the transfer mechanism only carries a workpiece from the conveyance mechanism to the lamination mechanism. That is, in a lamination process of a workpiece, there is time for conveying the workpiece from the conveyance mechanism to the lamination mechanism, and thus there is room for improvement in order to shorten lamination time of a workpiece.

Accordingly, the present disclosure provides a lamination device capable of shortening lamination time of a workpiece.

A lamination device according to the present disclosure is a lamination device that laminates a plurality of types of workpieces. The lamination device includes a plurality of supply mechanisms that supply the workpiece to each of a plurality of supply positions; a movement mechanism including a stator of a linear motor having a predetermined traveling track and a mover of a linear motor movable between a plurality of the supply positions along the traveling track; and a control unit that controls at least the mover. The mover includes a holding unit that holds the workpiece supplied to the supply position and a lamination stage for laminating the workpieces. The control unit corrects a relative position of the workpiece with respect to the lamination stage and controls the mover so that the workpiece whose relative position is corrected is laminated on the lamination stage while the holding unit holds the workpiece supplied to the supply position and moves to and stops at a next one of the supply positions.

According to the lamination device of the present disclosure, lamination on the lamination stage is performed while the holding unit of the mover holds the workpiece supplied to the supply position and moves to and stops at a next one of the supply positions. That is, since the workpiece is laminated while the mover moves, lamination time of the workpiece can be shortened.

BRIEF EXPLANATION OF THE DRAWINGS

FIG. 1 is a plan view schematically illustrating a configuration of a lamination device according to a first embodiment;

FIG. 2 is a diagram schematically illustrating a configuration of a mover of a movement mechanism when viewed in a direction along a traveling track of a stator;

FIG. 3 is a block diagram illustrating a connection relationship with a control unit;

FIG. 4A is a diagram for explaining a method of grasping a position and a posture of a workpiece captured by an imaging device, and FIG. 4B is a diagram for explaining a method of grasping a position and a posture of a workpiece by imaging an alignment mark formed on the workpiece by the imaging device;

FIG. 5 is a diagram for explaining a method of correcting a relative position of a workpiece with respect to a lamination stage in the lamination device according to the first embodiment;

FIG. 6A is a side view schematically illustrating a lamination stage including a positioning pin as a fixing member, FIG. 6B is a side view illustrating a state in which a jig on the lamination stage is fixed by the positioning pin, and FIG. 6C is a diagram illustrating a state in which the jig is discharged together with a laminated workpiece by a jig supply and discharge mechanism and a next jig is supplied onto the lamination stage;

FIG. 7 is a plan view schematically illustrating a configuration of the lamination device in a case where the number of the movers is the same as the number of supply mechanisms; and

FIG. 8 is a diagram for explaining a method of correcting a relative position of a workpiece with respect to the lamination stage in the lamination device according to a second embodiment.

DETAILED DESCRIPTION

Hereinafter, a feature of the present disclosure will be specifically described with reference to an embodiment of the present disclosure.

First Embodiment

FIG. 1 is a plan view schematically illustrating a configuration of a lamination device 100 according to a first embodiment. The lamination device 100 in the first embodiment includes a plurality of supply mechanisms 10, a movement mechanism 20, and a control unit 30 (see FIG. 3 ). Here, an example in which a workpiece 1, which is an object to be laminated by the lamination device 100, is a sheet-shaped battery material will be described.

A plurality of the supply mechanisms 10 supply the workpiece 1 to each of a plurality of supply positions A1 to A4. The workpiece 1 of one type is supplied to each of a plurality of the supply positions A1 to A4. In the present embodiment, a plurality of the supply mechanisms 10 include four supply mechanisms of a first supply mechanism 10 a, a second supply mechanism 10 b, a third supply mechanism 10 c, and a fourth supply mechanism 10 d. However, the number of a plurality of the supply mechanisms 10 is not limited to four.

The first supply mechanism 10 a supplies a resin film as the workpiece 1 to the first supply position A1. The resin film is a sheet-shaped battery material that functions as a separator, and is made from, for example, polyethylene. In the present embodiment, the first supply mechanism 10 a is a belt conveyor, and conveys and supplies the workpiece 1 placed on a belt to the first supply position A1.

The second supply mechanism 10 b supplies first metal foil as the workpiece 1 to the second supply position A2. The first metal foil is a sheet-shaped battery material that functions as one of a positive electrode and a negative electrode, and is made from, for example, aluminum. In the present embodiment, the second supply mechanism 10 b is a belt conveyor, and conveys and supplies the workpiece 1 placed on a belt to the second supply position A2.

The third supply mechanism 10 c supplies a resin film as the workpiece 1 to the third supply position A3. The resin film is a sheet-shaped battery material that functions as a separator, and is made from, for example, polyethylene. As the resin film supplied by the third supply mechanism 10 c, the same resin film as the resin film supplied by the first supply mechanism 10 a can be used. However, a film different from the resin film supplied by the first supply mechanism 10 a may be used. In the present embodiment, the third supply mechanism 10 c is a belt conveyor, and conveys and supplies the workpiece 1 placed on a belt to the third supply position A3.

The fourth supply mechanism 10 d supplies second metal foil as the workpiece 1 to the fourth supply position A4. The second metal foil is a sheet-shaped battery material that functions as the other electrode of the positive electrode and the negative electrode, and is made from, for example, aluminum. In the present embodiment, the fourth supply mechanism 10 d is a belt conveyor, and conveys and supplies the workpiece 1 placed on a belt to the fourth supply position A4.

Note that the first supply mechanism 10 a, the second supply mechanism 10 b, the third supply mechanism 10 c, and the fourth supply mechanism 10 d are not limited to belt conveyors, and may have any structure that can convey and supply the workpiece 1.

Further, instead of conveying the workpiece 1 divided into pieces by the supply mechanism 10, the workpiece 1 having long size may be conveyed to and cut at the supply positions A1 to A4 to be divided into pieces. Note that, in the present embodiment, the shape of the workpiece 1 is a rectangular shape, but may be a shape other than the rectangular shape.

The movement mechanism 20 includes a stator 21 of a linear motor having a predetermined traveling track, and a mover 22 of a linear motor that is movable between a plurality of the supply positions A1 to A4 along the traveling track. In the present embodiment, the traveling track of the stator 21 has an elliptical annular shape in plan view as illustrated in FIG. 1 . However, the shape of the traveling track in plan view is not limited to the elliptical annular shape.

In the present embodiment, the mover 22 includes a first mover 22 a, a second mover 22 b, a third mover 22 c, a fourth mover 22 d, a fifth mover 22 e, a sixth mover 22 f, a seventh mover 22 g, and an eighth mover 22 h. That is, the number of the movers 22 is twice the number of the supply mechanisms 10. Each of the movers 22 a to 22 h can move independently.

FIG. 2 is a diagram schematically illustrating a configuration of the mover 22 of the movement mechanism 20 when viewed in a direction along the traveling track of the stator 21. As illustrated in FIG. 2 , the mover 22 includes a holding unit 221 that holds the workpiece 1 and a lamination stage 222 for laminating the workpiece 1. Note that, in FIG. 2 , the X-axis direction is a direction in which the supply mechanism 10 conveys the workpiece 1, and the Y-axis direction is a direction in which the mover 22 moves along the traveling track. Further, the Z-axis direction is a vertical direction.

The holding unit 221 holds the workpiece 1 conveyed by the supply mechanism 10. The holding unit 221 is movable in the vertical direction. In the present embodiment, the holding unit 221 moves downward to approach the workpiece 1 from above, and sucks and holds the workpiece 1. However, the method of holding the workpiece 1 by the holding unit 221 is not limited to suction.

The lamination stage 222 is for laminating the workpiece 1 held by the holding unit 221. In the present embodiment, a jig 25 is supplied onto the lamination stage 222 by a jig supply and discharge mechanism 50 (see FIG. 6C) to be described later, and the workpiece 1 is laminated on the jig 25. As illustrated in FIGS. 6B and 6C, the jig 25 is preferably provided with a chucking jaw 26 for holding the laminated workpiece 1.

For example, the jig 25 is provided with a pair of the chucking jaws 26 facing each other so as to sandwich the workpiece 1. The chucking jaw 26 has a workpiece pressing surface 26 a parallel to a surface on which the workpiece 1 is laminated of the jig 25. The workpiece 1 is supplied between a pair of the chucking jaws 26 on the jig 25, and is pressed from above in contact with the workpiece pressing surface 26 a of the chucking jaw 26 as illustrated in FIG. 6C. Since the laminated workpiece 1 is pressed by the chucking jaw 26, it is possible to suppress positional displacement of the laminated workpiece 1. Further, since the workpiece 1 is pressed not by a point but by a surface, it is possible to prevent the workpiece 1 from being scratched. However, the workpiece 1 may be laminated on the lamination stage 222 without using the jig 25.

In the present embodiment, as illustrated in FIG. 2 , the mover 22 is attached to two guide rails 210 of the stator 21 forming the traveling track and moves along the guide rails 210. As illustrated in FIG. 2 , the guide rail 210 of the stator 21 is provided not vertically below the mover 22 but on the side. In a structure in which the guide rail 210 is provided vertically below the mover 22, it is necessary to perform control in consideration of a turning radius difference between two of the guide rails 210, but in the structure provided on the side, it is not necessary to consider the turning radius difference, and the control becomes simple.

FIG. 3 is a block diagram illustrating a connection relationship with the control unit 30. As illustrated in FIG. 3 , the control unit 30 is connected to the first supply mechanism 10 a, the second supply mechanism 10 b, the third supply mechanism 10 c, the fourth supply mechanism 10 d, the first mover 22 a, the second mover 22 b, the third mover 22 c, the fourth mover 22 d, the fifth mover 22 e, the sixth mover 22 f, the seventh mover 22 g, the eighth mover 22 h, a first imaging device 40 a, a second imaging device 40 b, a third imaging device 40 c, and a fourth imaging device 40 d to be described later, and the jig supply and discharge mechanism 50 to be described later.

The control unit 30 controls at least the mover 22. Specifically, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 and controls the mover 22 so as to laminate the workpiece 1 whose relative position is corrected on the lamination stage 222 while the holding unit 221 holds the workpiece 1 supplied to the supply positions A1 to A4 and moves to and stops at a next one of the supply positions A1 to A4. In the lamination device 100 according to the present embodiment, the control unit 30 moves at least one of the holding unit 221 holding the workpiece 1 and the lamination stage 222 in order to correct a relative position of the workpiece 1 with respect to the lamination stage 222.

The lamination device 100 in the present embodiment further includes an imaging device 40 that images the workpiece 1 supplied by the supply mechanism 10. The imaging device 40 is provided vertically above the workpiece 1 at the supply positions A1 to A4, and images the workpiece 1 in a state of being supplied to the supply positions A1 to A4 by the supply mechanism 10 and stopped.

The imaging device 40 images the workpiece 1 in order to grasp a position and a posture of the workpiece 1. For example, if it is possible to image the workpiece 1 having a rectangular shape by the imaging device 40 and to grasp positions of a first corner 1 a and a second corner 1 b (see FIG. 4A) located diagonally on the outer periphery of the workpiece 1, it is possible to grasp a position and a posture of the workpiece 1.

However, it is not necessary to image an entire shape of the workpiece 1 by the imaging device 40, and the configuration may be such that only a part of the workpiece 1 is imaged as long as a position and a posture of the workpiece 1 can be grasped. As an example, as illustrated in FIG. 4B, an alignment mark 11 for grasping a position and a posture of the workpiece 1 is formed on the workpiece 1, and the alignment mark 11 may be imaged by the imaging device 40. In this case, if positions of a first corner 11 a and a second corner 11 b located on a diagonal line of the alignment mark 11 can be grasped, a position and a posture of the workpiece 1 can be grasped.

Note that, in FIG. 2 , a part of the mover 22 appears to exist on an optical path at the time of imaging by the imaging device 40, but a notch is provided in the mover 22 so that the workpiece 1 at the supply position can be imaged.

In the present embodiment, there are four of the supply positions A1 to A4 of the workpieces 1 in order to supply four types of the workpieces 1. Therefore, four of the imaging devices 40 are provided corresponding to four of the supply positions A1 to A4. Specifically, the first imaging device 40 a is provided vertically above the first supply position A1, the second imaging device 40 b is provided vertically above the second supply position A2, the third imaging device 40 c is provided vertically above the third supply position A3, and the fourth imaging device 40 d is provided vertically above the fourth supply position A4.

The control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving at least one of the holding unit 221 holding the workpiece 1 and the lamination stage 222 on the basis of an image of the workpiece 1 captured by the imaging device 40. By moving at least one of the holding unit 221 holding the workpiece 1 and the lamination stage 222 based on the image of the workpiece 1, position correction according to an actual position and posture of the workpiece 1 can be performed. In this manner, it is possible to obtain a laminate in which positional displacement of a plurality of types of the workpieces 1 is more effectively suppressed. However, the method of correcting a relative position of the workpiece 1 with respect to the lamination stage 222 is not limited to the method performed based on an image of the workpiece 1.

FIG. 5 is a diagram for explaining a method of correcting a relative position of the workpiece 1 with respect to the lamination stage 222 in the lamination device 100 according to the first embodiment.

The lamination stage 222 is configured to be movable in an X-axis direction, which is a direction in which the workpiece 1 is conveyed by the supply mechanism 10, a Y-axis direction orthogonal to the X-axis, and a 0 direction, which is a rotation direction around the center of the lamination stage 222 on an XY plane. The holding unit 221 is configured to be movable in a Z-axis direction, that is, the vertical direction.

The control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving the lamination stage 222 in at least one of the X-axis direction, the Y-axis direction, and the 0 direction on the basis of an image of the workpiece 1 captured by the imaging device 40. Specifically, a relative position of the workpiece 1 with respect to the lamination stage 222 is corrected by moving the lamination stage 222 in at least one of the X-axis direction, the Y-axis direction, and the 0 direction such that the workpiece 1 and the lamination stage 222 overlap each other when viewed from the Z-axis direction. Then, when the relative position correction of the workpiece 1 with respect to the lamination stage 222 is completed, the control unit 30 lowers the holding unit 221 holding the workpiece 1 to release suction of the workpiece 1, so that the workpiece 1 is laminated on the lamination stage 222, more specifically, on the jig 25 on the lamination stage 222. At this time, a movement amount in the Z-axis direction, that is, a lowering amount of the holding unit 221 is controlled based on the number of the laminated workpieces 1 laminated on the jig 25.

Note that the configuration may be such that the lamination stage 222 does not move, and the holding unit 221 holding the workpiece 1 is movable in the X-axis direction, the Y-axis direction, and the θ direction. In that case, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving the holding unit 221 holding the workpiece 1 in at least one of the X-axis direction, the Y-axis direction, and the θ direction on the basis of an image of the workpiece 1 captured by the imaging device 40.

Hereinafter, a method of sequentially laminating four types of the workpieces 1 by the lamination device 100 according to the first embodiment will be described. Here, operation in which the first mover 22 a of eight of the movers 22 laminates the workpiece 1 will be described. However, the same applies to operation in which the other movers 22 b to 22 h laminate the workpiece 1. That is, assuming that T is time during which the first mover 22 a makes one round on the traveling track of the stator 21, the same operation as the first mover 22 a is performed by the eighth mover 22 h at a timing delayed by T/8, the seventh mover 22 g at a timing delayed by (2T)/8, the sixth mover 22 f at a timing delayed by (3T)/8, the fifth mover 22 e at a timing delayed by (4T)/8, the fourth mover 22 d at a timing delayed by (5T)/8, the third mover 22 c at a timing delayed by (6T)/8, and the second mover 22 b at a timing delayed by (7T)/8.

(S1) The control unit 30 controls the first supply mechanism 10 a so that a resin film as the workpiece 1 is supplied to the first supply position A1, and stops the first mover 22 a at the first supply position A1. Further, the control unit 30 controls the first imaging device 40 a to image the workpiece 1 stopped at the first supply position A1. After the first imaging device 40 a images the workpiece 1, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1 at the first supply position A1.

Note that, when the first mover 22 a is stopped at the first supply position A1, the third mover 22 c is stopped at the second supply position A2, the fifth mover 22 e is stopped at the third supply position A3, and the seventh mover 22 g is stopped at the fourth supply position A4. Similarly to the first mover 22 a, each of the third mover 22 c, the fifth mover 22 e, and the seventh mover 22 g performs lamination on the lamination stage 222 while the holding unit 221 holds the workpiece 1 supplied at each of the supply positions A1 to A4 and moves to and stops at a next one of the supply positions A1 to A4.

Further, when the first mover 22 a is stopped at the first supply position A1, the second mover 22 b is located between the first supply position A1 and the second supply position A2, the fourth mover 22 d is located between the second supply position A2 and the third supply position A3, the sixth mover 22 f is located between the third supply position A3 and the fourth supply position A4, and the eighth mover 22 h is located between the fourth supply position A4 and the first supply position A1. As will be described later, the second mover 22 b, the fourth mover 22 d, the sixth mover 22 f, and the eighth mover 22 h perform lamination by performing relative position correction of the workpiece 1 with respect to the lamination stage 222 before moving to and stopping at a next one of the supply positions A1 to A4.

(S2) Subsequently, the control unit 30 moves the first mover 22 a from the first supply position A1 to the second supply position A2 along the traveling track. While the first mover 22 a moves from the first supply position A1 to the second supply position A2 and stops, the control unit 30 corrects a relative position of the workpiece 1 held by the holding unit 221 with respect to the lamination stage 222 and controls the first mover 22 a so as to laminate the workpiece 1 whose relative position is corrected on the jig 25 of the lamination stage 222. Specifically, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving the lamination stage 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction on the basis of an image of the workpiece 1 captured by the first imaging device 40 a, and lowers the holding unit 221 when the position correction is completed.

At this time, the control unit 30 adjusts a moving amount in the Z-axis direction, that is, a lowering amount of the holding unit 221 based on the number of the laminated workpieces 1 laminated on the lamination stage 222, more specifically, on the jig 25. After that, the control unit 30 causes the holding unit 221 to release suction of the workpiece 1, and laminates the workpiece 1 on the jig 25 on the lamination stage 222. However, in a case where the workpiece 1 is laminated on the jig 25, “on the jig 25” means on the workpiece 1 laminated on the jig 25.

Note that, the control unit 30 not only moves the first mover 22 a from the first supply position A1 to the second supply position A2, but also moves the third mover 22 c from the second supply position A2 to the third supply position A3, moves the fifth mover 22 e from the third supply position A3 to the fourth supply position A4, and moves the seventh mover 22 g from the fourth supply position A4 to the first supply position A1.

(S3) Subsequently, the control unit 30 controls the second supply mechanism 10 b so that the first metal foil as the workpiece 1 is supplied to the second supply position A2, and stops the first mover 22 a at the second supply position A2. Further, the control unit 30 controls the second imaging device 40 b to image the workpiece 1 stopped at the second supply position A2. After the second imaging device 40 b images the workpiece 1, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1 at the second supply position A2.

Note that, when the first mover 22 a is stopped at the second supply position A2, the third mover 22 c is stopped at the third supply position A3, the fifth mover 22 e is stopped at the fourth supply position A4, and the seventh mover 22 g is stopped at the first supply position A1. Further, the second mover 22 b is located between the second supply position A2 and the third supply position A3, the fourth mover 22 d is located between the third supply position A3 and the fourth supply position A4, the sixth mover 22 f is located between the fourth supply position A4 and the first supply position A1, and the eighth mover 22 h is located between the first supply position A1 and the second supply position A2.

(S4) Subsequently, the control unit 30 moves the first mover 22 a from the second supply position A2 to the third supply position A3 along the traveling track. While the first mover 22 a moves from the second supply position A2 to the third supply position A3 and stops, the control unit 30 corrects a relative position of the workpiece 1 held by the holding unit 221 with respect to the lamination stage 222 and controls the first mover 22 a so as to laminate the workpiece 1 whose relative position is corrected on the jig 25 of the lamination stage 222. Specifically, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving the lamination stage 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction on the basis of an image of the workpiece 1 captured by the second imaging device 40 b. After the position correction, operation of laminating the workpiece 1 on the lamination stage 222, more specifically, on the jig 25 is similar to the operation of laminating the workpiece 1 at the first supply position A1.

Note that, the control unit 30 not only moves the first mover 22 a from the second supply position A2 to the third supply position A3, but also moves the third mover 22 c from the third supply position A3 to the fourth supply position A4, moves the fifth mover 22 e from the fourth supply position A4 to the first supply position A1, and moves the seventh mover 22 g from the first supply position A1 to the second supply position A2.

(S5) Subsequently, the control unit 30 controls the third supply mechanism 10 c so that a resin film as the workpiece 1 is supplied to the third supply position A3, and stops the first mover 22 a at the third supply position A3. Further, the control unit 30 controls the third imaging device 40 c to image the workpiece 1 stopped at the third supply position A3. After the third imaging device 40 c images the workpiece 1, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1 at the third supply position A3.

Note that, when the first mover 22 a is stopped at the third supply position A3, the third mover 22 c is stopped at the fourth supply position A4, the fifth mover 22 e is stopped at the first supply position A1, and the seventh mover 22 g is stopped at the second supply position A2. Further, the second mover 22 b is located between the third supply position A3 and the fourth supply position A4, the fourth mover 22 d is located between the fourth supply position A4 and the first supply position A1, the sixth mover 22 f is located between the first supply position A1 and the second supply position A2, and the eighth mover 22 h is located between the second supply position A2 and the third supply position A3.

(S6) Subsequently, the control unit 30 moves the first mover 22 a from the third supply position A3 to the fourth supply position A4 along the traveling track. While the first mover 22 a moves from the third supply position A3 to the fourth supply position A4 and stops, the control unit 30 corrects a relative position of the workpiece 1 held by the holding unit 221 with respect to the lamination stage 222 and controls the first mover 22 a so as to laminate the workpiece 1 whose relative position is corrected on the jig 25 of the lamination stage 222. Specifically, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving the lamination stage 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction on the basis of an image of the workpiece 1 captured by the third imaging device 40 c. After the position correction, operation of laminating the workpiece 1 on the lamination stage 222, more specifically, on the jig 25 is similar to the operation of laminating the workpiece 1 at the first supply position A1.

Note that, the control unit 30 not only moves the first mover 22 a from the third supply position A3 to the fourth supply position A4, but also moves the third mover 22 c from the fourth supply position A4 to the first supply position A1, moves the fifth mover 22 e from the first supply position A1 to the second supply position A2, and moves the seventh mover 22 g from the second supply position A2 to the third supply position A3.

(S7) Subsequently, the control unit 30 controls the fourth supply mechanism 10 d so that the second metal foil as the workpiece 1 is supplied to the fourth supply position A4, and stops the first mover 22 a at the fourth supply position A4. Further, the control unit 30 controls the fourth imaging device 40 d to image the workpiece 1 stopped at the fourth supply position A4. After the fourth imaging device 40 d images the workpiece 1, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1 at the fourth supply position A4.

Note that, when the first mover 22 a is stopped at the fourth supply position A4, the third mover 22 c is stopped at the first supply position A1, the fifth mover 22 e is stopped at the second supply position A2, and the seventh mover 22 g is stopped at the third supply position A3. Further, the second mover 22 b is located between the fourth supply position A4 and the first supply position A1, the fourth mover 22 d is located between the first supply position A1 and the second supply position A2, the sixth mover 22 f is located between the second supply position A2 and the third supply position A3, and the eighth mover 22 h is located between the third supply position A3 and the fourth supply position A4.

(S8) Subsequently, the control unit 30 moves the first mover 22 a from the fourth supply position A4 to the first supply position A1 along the traveling track. While the first mover 22 a moves from the fourth supply position A4 to the first supply position A1 and stops, the control unit 30 corrects a relative position of the workpiece 1 held by the holding unit 221 with respect to the lamination stage 222 and controls the first mover 22 a so as to laminate the workpiece 1 whose relative position is corrected on the jig 25 of the lamination stage 222. Specifically, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by moving the lamination stage 222 in at least one of the X-axis direction, the Y-axis direction, and the θ direction on the basis of an image of the workpiece 1 captured by the fourth imaging device 40 d. After the position correction, operation of laminating the workpiece 1 on the lamination stage 222, more specifically, on the jig 25 is similar to the operation of laminating the workpiece 1 at the first supply position A1.

Note that, the control unit 30 not only moves the first mover 22 a from the fourth supply position A4 to the first supply position A1, but also moves the third mover 22 c from the first supply position A1 to the second supply position A2, moves the fifth mover 22 e from the second supply position A2 to the third supply position A3, and moves the seventh mover 22 g from the third supply position A3 to the fourth supply position A4.

By the processes (S1) to (S8) described above, a set of semi-finished products in which the resin film, the first metal foil, the resin film, and the second metal foil, which are four types of the workpieces 1, are laminated in this order is obtained. After the above, by repeatedly performing the processes (S1) to (S8), a product in which a predetermined number of sets are laminated, that is, a laminate in which a plurality of positive electrodes and a plurality of negative electrodes are alternately laminated with a resin film functioning as a separator interposed between them is obtained. The laminate is used, for example, as a constituent material of an assembled battery.

The lamination device 100 according to the present embodiment further includes the jig supply and discharge mechanism 50 that supplies the jig 25 for laminating the workpieces 1 on the lamination stage 222 and discharges the jig 25 together with a plurality of types of the workpieces 1 for which lamination is completed (see FIG. 6C). That is, when the workpieces 1 are laminated, the jig 25 is supplied onto the lamination stage 222 by the jig supply and discharge mechanism 50, and a plurality of types of the workpieces 1 are sequentially laminated on the jig 25 by the above-described method.

Further, when a desired laminate in which a plurality of types of the workpieces 1 are laminated is manufactured, the jig supply and discharge mechanism 50 discharges the laminate in which a plurality of types of the workpieces 1 are laminated together with the jig 25 (see FIG. 6C). Operation of the jig supply and discharge mechanism 50 is controlled by the control unit 30. The jig supply and discharge mechanism 50 discharges the jig 25 together with a plurality of types of the workpieces 1 for which lamination is completed, so that it is easy to take out a plurality of types of the workpieces 1 for which lamination is completed. Further, after the jig 25 is discharged, a next one of the jig 25 is supplied onto the lamination stage 222. In this manner, lamination of a new one of the workpiece 1 can be started immediately, so that lamination efficiency of the workpiece 1 can be further improved.

Here, the lamination stage 222 has a fixing member for fixing the jig 25. Since the lamination stage 222 has the fixing member for fixing the jig 25, it is possible to further suppress positional displacement when the workpiece 1 is laminated on the jig 25.

In the present embodiment, as illustrated in FIG. 6A, the fixing member is a positioning pin 60 that can be fitted into and separated from a recess formed in the jig 25. The positioning pin 60 is configured to be movable up and down so as to be able to protrude and retract with respect to a surface of the lamination stage 222. When the jig 25 is fixed, the positioning pin 60 is fitted into a recess formed in the jig 25 in a state of protruding from a surface of the lamination stage 222, so that the jig 25 is fixed (see FIG. 6B). In this manner, the jig 25 can be more reliably fixed to the lamination stage 222.

Further, when the jig 25 is discharged and supplied, the positioning pin 60 is lowered and retracted from a surface of the lamination stage 222, so that a fixed state of the jig 25 is released (see FIG. 6C). With such a configuration, it is possible to easily supply and discharge the jig 25.

However, the fixing member for fixing the jig 25 is not limited to the positioning pin 60 described above.

As described above, according to the lamination device 100 of the first embodiment, lamination on the lamination stage 222 is performed while the holding unit 221 of the mover 22 holds the workpiece 1 supplied at the supply positions A1 to A4 and moves to and stops at a next one of the supply positions A1 to A4. That is, during the movement of the mover 22 to a next one of the supply positions A1 to A4, lamination is performed by relative position correction of the workpiece 1 with respect to the lamination stage 222, so that lamination time of the workpiece 1 can be shortened.

Further, according to the lamination device 100 of the first embodiment, each of the first supply mechanism 10 a, the second supply mechanism 10 b, the third supply mechanism 10 c, and the fourth supply mechanism 10 d only needs to continuously supply one type of the workpiece 1, and thus, operation is simplified.

As described above, in the lamination device 100 according to the present embodiment, the number of the movers 22 is twice the number of the supply mechanisms 10. While each of the movers 22 is stopped in each of the supply mechanisms 10, another one of the mover 22 can perform lamination of the workpiece 1 while moving between the supply positions A1 to A4. Accordingly, lamination efficiency of the workpiece 1 can be further improved.

Note that, as illustrated in FIG. 7 , the number of the movers 22 may be the same as the number of the supply mechanisms 10. Even in this case, the workpiece 1 supplied by each of the supply mechanisms 10 can be simultaneously laminated on each of the lamination stages 222 of the same number of movers 22. Therefore, since it is possible to simultaneously laminate a plurality of types of the workpieces 1 according to the number of the supply mechanisms 10, lamination efficiency of the workpiece 1 can be improved as compared with a configuration in which the number of the movers 22 is smaller than the number of the supply mechanisms 10. Further, since all the movers 22 can be stopped and moved simultaneously, the possibility of collision between the movers 22 can be reduced.

Second Embodiment

The lamination device 100 according to the first embodiment is configured such that the lamination stage 222 moves in order to correct a relative position of the workpiece 1 with respect to the lamination stage 222.

On the other hand, in a lamination device 100A according to a second embodiment, in order to correct a relative position of the workpiece 1 with respect to the lamination stage 222, the supply mechanism 10, the mover 22, and the lamination stage 222 are configured to move.

FIG. 8 is a diagram for explaining a method of correcting a relative position of the workpiece 1 with respect to the lamination stage 222 in the lamination device 100A according to the second embodiment.

The imaging device 40 images the workpiece 1 at a position before a supply position in a conveyance direction (X-axis direction in FIG. 8 ) of the workpiece 1 by the supply mechanism 10. The control unit 30 determines a supply position based on an image of the workpiece 1 captured by the imaging device 40, and performs first control of controlling the supply mechanism 10 so that the workpiece 1 stops at a determined supply position. By the first control, a position in the X-axis direction in a relative position of the workpiece 1 with respect to the lamination stage 222 is adjusted.

The control unit 30 also determines a stop position of the mover 22 on the basis of an image of the workpiece 1 captured by the imaging device 40, and performs second control of controlling the mover 22 to stop at a determined stop position. By the second control, a position in the Y-axis direction in a relative position of the workpiece 1 with respect to the lamination stage 222 is adjusted.

The control unit 30 also performs third control of adjusting a position of the holding unit 221 after the first control and the second control on the basis of the image of the workpiece 1 captured by the imaging device 40. In the third control, control is performed to move the holding unit 221 in the θ direction which is a rotation direction around the center of the holding unit 221 on the XY plane.

A relative position of the workpiece 1 with respect to the lamination stage 222 is corrected by the first control, the second control, and the third control described above. When the relative position correction of the workpiece 1 with respect to the lamination stage 222 is completed, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1. After the above, before the mover 22 moves to a next supply position and stops, the control unit 30 lowers the holding unit 221 holding the workpiece 1 to release suction of the workpiece 1, so that the workpiece 1 is laminated on the lamination stage 222, more specifically, on the jig 25 on the lamination stage 222. At this time, as in the first embodiment, a movement amount in the Z-axis direction, that is, a lowering amount, of the holding unit 221 is adjusted based on the number of the laminated workpieces 1 laminated on the jig 25.

Hereinafter, a method of sequentially laminating four types of the workpieces 1 by the lamination device 100A according to the second embodiment will be described. Here, operation in which the first mover 22 a of eight of the movers 22 laminates the workpiece 1 will be described. However, the same applies to operation in which the other movers 22 b to 22 h laminate the workpiece 1.

(S11) The control unit 30 controls the first imaging device 40 a so that a resin film as the workpiece 1 is imaged at a position before the first supply position A1 in the conveyance direction of the workpiece 1 by the first supply mechanism 10 a. The control unit 30 performs first control of determining the first supply position A1 on the basis of an image of the workpiece 1 captured by the first imaging device 40 a and controlling the first supply mechanism 10 a so that the workpiece 1 stops at the determined first supply position A1, second control of determining a stop position of the first mover 22 a on the basis of the image of the workpiece 1 captured by the first imaging device 40 a and controlling the first mover 22 a so as to stop at the determined stop position, and third control of controlling a position in the θ direction of the holding unit 221 on the basis of the image of the workpiece 1 captured by the first imaging device 40 a. After the above, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1.

Positions of the other movers 22 b to 22 h when the first mover 22 a is stopped at the first supply position A1 are similar to those in the first embodiment.

(S12) Subsequently, the control unit 30 moves the first mover 22 a from the first supply position A1 to the second supply position A2, and controls the first mover 22 a so as to laminate the workpiece 1 held by the holding unit 221 on the jig 25 on the lamination stage 222 during the movement.

Note that, as in the first embodiment, the control unit 30 not only moves the first mover 22 a from the first supply position A1 to the second supply position A2, but also moves the third mover 22 c from the second supply position A2 to the third supply position A3, moves the fifth mover 22 e from the third supply position A3 to the fourth supply position A4, and moves the seventh mover 22 g from the fourth supply position A4 to the first supply position A1.

(S13) Subsequently, the control unit 30 controls the second imaging device 40 b to image the first metal foil as the workpiece 1 at a position before the second supply position A2 in the conveyance direction of the workpiece 1 by the second supply mechanism 10 b. The control unit 30 performs first control of determining the second supply position A2 on the basis of an image of the workpiece 1 captured by the second imaging device 40 b and controlling the second supply mechanism 10 b so that the workpiece 1 stops at the determined second supply position A2, second control of determining a stop position of the first mover 22 a on the basis of the image of the workpiece 1 captured by the second imaging device 40 b and controlling the first mover 22 a so as to stop at the determined stop position, and third control of controlling a position in the θ direction of the holding unit 221 on the basis of the image of the workpiece 1 captured by the second imaging device 40 b. After the above, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1.

Positions of the other movers 22 b to 22 h when the first mover 22 a is stopped at the second supply position A2 are similar to those in the first embodiment.

(S14) Subsequently, the control unit 30 moves the first mover 22 a from the second supply position A2 to the third supply position A3, and controls the first mover 22 a so as to laminate the workpiece 1 held by the holding unit 221 on the jig 25 on the lamination stage 222 during the movement.

Note that, as in the first embodiment, the control unit 30 not only moves the first mover 22 a from the second supply position A2 to the third supply position A3, but also moves the third mover 22 c from the third supply position A3 to the fourth supply position A4, moves the fifth mover 22 e from the fourth supply position A4 to the first supply position A1, and moves the seventh mover 22 g from the first supply position A1 to the second supply position A2.

(S15) Subsequently, the control unit 30 controls the third imaging device 40 c so that a resin film as the workpiece 1 is imaged at a position before the third supply position A3 in the conveyance direction of the workpiece 1 by the third supply mechanism 10 c. The control unit 30 performs first control of determining the third supply position A3 on the basis of an image of the workpiece 1 captured by the third imaging device 40 c and controlling the third supply mechanism 10 c so that the workpiece 1 stops at the determined third supply position A3, second control of determining a stop position of the first mover 22 a on the basis of the image of the workpiece 1 captured by the third imaging device 40 c and controlling the first mover 22 a so as to stop at the determined stop position, and third control of controlling a position of the holding unit 221 in the θ direction on the basis of the image of the workpiece 1 captured by the third imaging device 40 c. After the above, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1.

The positions of the other movers 22 b to 22 h when the first mover 22 a is stopped at the third supply position A3 are similar to those in the first embodiment.

(S16) Subsequently, the control unit 30 moves the first mover 22 a from the third supply position A3 to the fourth supply position A4, and controls the first mover 22 a so as to laminate the workpiece 1 held by the holding unit 221 on the jig 25 on the lamination stage 222 during the movement.

Note that, as in the first embodiment, the control unit 30 not only moves the first mover 22 a from the third supply position A3 to the fourth supply position A4, but also moves the third mover 22 c from the fourth supply position A4 to the first supply position A1, moves the fifth mover 22 e from the first supply position A1 to the second supply position A2, and moves the seventh mover 22 g from the second supply position A2 to the third supply position A3.

(S17) Subsequently, the control unit 30 controls the fourth imaging device 40 d to image the resin film as the workpiece 1 at a position before the fourth supply position A4 in the conveyance direction of the workpiece 1 by the fourth supply mechanism 10 d. The control unit 30 performs first control of determining the fourth supply position A4 on the basis of an image of the workpiece 1 captured by the fourth imaging device 40 d and controlling the fourth supply mechanism 10 d such that the workpiece 1 stops at the determined fourth supply position A4, second control of determining a stop position of the first mover 22 a on the basis of the image of the workpiece 1 captured by the fourth imaging device 40 d and controlling the first mover 22 a so as to stop at the determined stop position, and third control of controlling a position in the θ direction of the holding unit 221 on the basis of the image of the workpiece 1 captured by the fourth imaging device 40 d. After the above, the control unit 30 lowers the holding unit 221 to cause the holding unit 221 to hold the workpiece 1.

The positions of the other movers 22 b to 22 h when the first mover 22 a is stopped at the fourth supply position A4 are similar to those in the first embodiment.

(S18) Subsequently, the control unit 30 moves the first mover 22 a from the fourth supply position A4 to the first supply position A1, and controls the first mover 22 a so as to laminate the workpiece 1 held by the holding unit 221 on the jig 25 on the lamination stage 222 during the movement.

Note that, as in the first embodiment, the control unit 30 not only moves the first mover 22 a from the fourth supply position A4 to the first supply position A1, but also moves the third mover 22 c from the first supply position A1 to the second supply position A2, moves the fifth mover 22 e from the second supply position A2 to the third supply position A3, and moves the seventh mover 22 g from the third supply position A3 to the fourth supply position A4.

By the processes (S11) to (S18) described above, a set of semi-finished products in which the resin film, the first metal foil, the resin film, and the second metal foil, which are four types of the workpieces 1, are laminated in this order is obtained. After the above, by repeatedly performing the processes (S11) to (S18), a product in which a predetermined number of sets are laminated, that is, a laminate in which a plurality of positive electrodes and a plurality of negative electrodes are alternately laminated with a resin film functioning as a separator interposed between them is obtained.

Since the lamination device 100A according to the second embodiment also laminates the workpieces 1 before the mover 22 moves to the next supply position and stops, lamination time of the workpieces 1 can be shortened. In particular, according to the lamination device 100A of the second embodiment, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 by performing the first control of determining a supply position on the basis of an image of the workpiece 1 captured by the imaging device 40 and controlling the supply mechanism 10 so that the workpiece 1 stops at the determined supply position, the second control of determining a stop position of the mover 22 on the basis of the image of the workpiece 1 captured by the imaging device 40 and controlling the mover 22 so as to stop at the determined stop position, and the third control of controlling a position of the holding unit 221 holding the workpiece 1 on the basis of the image of the workpiece 1 captured by the imaging device 40. Therefore, while the mover 22 moves to the next supply position, the holding unit 221 only needs to laminate the workpiece 1 for which position correction is performed on the lamination stage 222, and a configuration for moving the lamination stage 222 is unnecessary. That is, the configuration of the mover 22 can be simplified as compared with the lamination device 100 in the first embodiment.

The present disclosure is not limited to the above embodiment, and various applications and variations can be applied within the scope of the present disclosure. For example, the workpiece 1 which is an object to be laminated is not limited to the above-described sheet-shaped battery material. For example, a plurality of types of the workpieces 1 are sheet-like conductive layers and insulating layers, and a multilayer substrate can be produced by laminating a plurality of types of the workpieces 1. In this case, the conductive layer is made from, for example, copper, silver, an alloy containing copper, an alloy containing silver, Sn—Ag-based solder, or the like, and the insulating layer is made from, for example, thermoplastic resin such as a liquid crystal polymer, polyether ether ketone, polyether imide, or polyimide, or thermosetting resin such as epoxy resin or unsaturated polyester.

In the above-described embodiment, the control unit 30 corrects a relative position of the workpiece 1 with respect to the lamination stage 222 on the basis of an image of the workpiece 1 captured by the imaging device 40, but can also correct the position without using the image of the workpiece 1. For example, conveyance of the workpiece 1 by the supply mechanism 10 and holding of the workpiece 1 by the holding unit 221 of the mover 22 are performed so that positional displacement of the workpiece 1 does not occur, and the control unit 30 accurately stops the mover 22 at each of the supply positions A1 to A4 on the basis of an encoder value indicating position information of the mover 22. Note that, in that case, the control unit 30 may finely adjust a relative position of the workpiece 1 with respect to the lamination stage 222 on the basis of an image of the workpiece 1 captured by the imaging device 40.

In the above-described embodiment, the holding unit 221 is configured to approach the supply mechanism 10 by lowering to hold the workpiece 1, but may be configured to approach the holding unit 221 by raising of the supply mechanism 10.

In the lamination device 100A of the second embodiment, the supply mechanism 10 may be configured to move in the θ direction instead of the lamination stage 222 moving in the θ direction which is a rotation direction. 

What is claimed is:
 1. A lamination device that is configured to laminate a plurality of types of workpieces, the lamination device comprising: a plurality of supply mechanisms configured to supply the workpiece to each of a plurality of supply positions; a movement mechanism including a stator of a linear motor having a predetermined traveling track and a mover of a linear motor movable between a plurality of the supply positions along the traveling track, the mover including a holding unit configured to hold the workpiece supplied to the supply position and a lamination stage configured to laminate the workpieces; and a controller configured to control at least the mover, and the controller is configured to correct a relative position of the workpiece with respect to the lamination stage and configured to control the mover so that the workpiece whose relative position is corrected is laminated on the lamination stage while the holding unit holds the workpiece supplied to the supply position and the mover moves to and stops at a next one of the supply positions.
 2. The lamination device according to claim 1, wherein the controller is configured to move at least one of the holding unit that holds the workpiece and the lamination stage in order to correct a relative position of the workpiece with respect to the lamination stage.
 3. The lamination device according to claim 2, further comprising: an imaging device configured to image the workpiece supplied by the supply mechanism, wherein the controller is configured to move at least one of the holding unit that holds the workpiece and the lamination stage based on an image of the workpiece captured by the imaging device.
 4. The lamination device according to claim 1, further comprising: an imaging device configured to image the workpiece supplied by the supply mechanism, wherein the controller is configured to correct a relative position of the workpiece with respect to the lamination stage by performing: first control of determining the supply position based on an image of the workpiece captured by the imaging device and controlling the supply mechanism so that the workpiece stops at the supply position that is determined, second control of determining a stop position of the mover based on the image of the workpiece captured by the imaging device and controlling the mover so as to stop at the stop position that is determined, and third control of controlling a position of the holding unit after the first control and the second control based on the image of the workpiece captured by the imaging device.
 5. The lamination device according to claim 1, wherein a number of the movers is twice a number of the supply mechanisms.
 6. The lamination device according to claim 1, wherein a number of the movers is the same as a number of the supply mechanisms.
 7. The lamination device according to claim 1, further comprising: a jig supply and discharge mechanism configured to supply a jig for laminating the workpiece on the lamination stage and configured to discharge the jig together with a plurality of types of the workpieces for which lamination is completed.
 8. The lamination device according to claim 7, wherein the lamination stage includes a fixing member configured to fix the jig.
 9. The lamination device according to claim 8, wherein the fixing member is a positioning pin configured to fit to and separate from a recess provided in the jig.
 10. The lamination device according to claim 2, wherein a number of the movers is twice a number of the supply mechanisms.
 11. The lamination device according to claim 3, wherein a number of the movers is twice a number of the supply mechanisms.
 12. The lamination device according to claim 4, wherein a number of the movers is twice a number of the supply mechanisms.
 13. The lamination device according to claim 2, wherein a number of the movers is the same as a number of the supply mechanisms.
 14. The lamination device according to claim 3, wherein a number of the movers is the same as a number of the supply mechanisms.
 15. The lamination device according to claim 4, wherein a number of the movers is the same as a number of the supply mechanisms.
 16. The lamination device according to claim 2, further comprising: a jig supply and discharge mechanism configured to supply a jig for laminating the workpiece on the lamination stage and configured to discharge the jig together with a plurality of types of the workpieces for which lamination is completed.
 17. The lamination device according to claim 3, further comprising: a jig supply and discharge mechanism configured to supply a jig for laminating the workpiece on the lamination stage and configured to discharge the jig together with a plurality of types of the workpieces for which lamination is completed.
 18. The lamination device according to claim 4, further comprising: a jig supply and discharge mechanism configured to supply a jig for laminating the workpiece on the lamination stage and configured to discharge the jig together with a plurality of types of the workpieces for which lamination is completed.
 19. The lamination device according to claim 5, further comprising: a jig supply and discharge mechanism configured to supply a jig for laminating the workpiece on the lamination stage and configured to discharge the jig together with a plurality of types of the workpieces for which lamination is completed.
 20. The lamination device according to claim 6, further comprising: a jig supply and discharge mechanism configured to supply a jig for laminating the workpiece on the lamination stage and configured to discharge the jig together with a plurality of types of the workpieces for which lamination is completed. 